cmake_minimum_required(VERSION 2.8.3)
project(rwth_upper_body_detector)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp cv_bridge sensor_msgs std_msgs rwth_perception_people_msgs message_filters geometry_msgs image_transport spencer_diagnostics spencer_tracking_msgs)

find_package(Qt4 REQUIRED COMPONENTS QtCore QtGui)
include(${QT_USE_FILE})

set(CMAKE_BUILD_TYPE Release)

if(CMAKE_COMPILER_IS_GNUCXX)
    set(CMAKE_CXX_FLAGS "-O3")        ## Optimize
endif()

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

#######################################
## Declare ROS messages and services ##
#######################################

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   sensor_msgs#   std_msgs#   rwth_perception_people_msgs
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES upper_body_detector
#  CATKIN_DEPENDS cv_bridge rosccp sensor_msgs std_msgs rwth_perception_people_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories( include
  ${catkin_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(upper_body_detector
#   src/${PROJECT_NAME}/upper_body_detector.cpp
# )

## Declare a cpp executable
add_executable(upper_body_detector src/main.cpp src/Camera.cpp src/ConfigFile.cpp src/Globals.cpp src/KConnectedComponentLabeler.cpp src/Math.cpp src/pointcloud.cpp src/ROI.cpp src/detector.cpp src/AncillaryMethods.cpp src/Hypo.cpp src/FrameInlier.cpp) 

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(upper_body_detector ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
 target_link_libraries(upper_body_detector
   ${catkin_LIBRARIES}
   ${QT_LIBRARIES}
   ${QT_QTCORE_LIBRARY}
   ${QT_QTGUI_LIBRARY}
 )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
install(TARGETS upper_body_detector
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
  PATTERN ".svn" EXCLUDE
)

install(DIRECTORY config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
  PATTERN ".svn" EXCLUDE
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_upper_body_detector.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
